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   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
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   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
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<div class="header">
  <div class="summary">
<a href="#pub-types">Public Types</a> &#124;
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="class_o_r_b___s_l_a_m2_1_1_system-members.html">List of all members</a>  </div>
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<div class="title">ORB_SLAM2::System Class Reference</div>  </div>
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<p><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a> se instancia una única vez en main, en la variable SLAM.  
 <a href="class_o_r_b___s_l_a_m2_1_1_system.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_system_8h_source.html">System.h</a>&gt;</code></p>
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Collaboration diagram for ORB_SLAM2::System:</div>
<div class="dyncontent">
<div class="center"><iframe scrolling="no" frameborder="0" src="class_o_r_b___s_l_a_m2_1_1_system__coll__graph.svg" width="2516" height="1224"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe></div>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a3f14b84bb9663e1129e649e592bd14cf"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">eSensor</a> { <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cfad1e5840d6aeaa77d25724ea0b27437cd">MONOCULAR</a> =0
 }<tr class="memdesc:a3f14b84bb9663e1129e649e592bd14cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tipo de sensor, modo de operación: mono, estéreo o mapa de profundidad.  <a href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">More...</a><br /></td></tr>
</td></tr>
<tr class="separator:a3f14b84bb9663e1129e649e592bd14cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a6cd39ec31a23d7ba5ebe1a6e4f4a0f89"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6cd39ec31a23d7ba5ebe1a6e4f4a0f89">ActivateLocalizationMode</a> ()</td></tr>
<tr class="memdesc:a6cd39ec31a23d7ba5ebe1a6e4f4a0f89"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pasa a modo de sólo localización, sin mapeo (sólo tracking).  <a href="#a6cd39ec31a23d7ba5ebe1a6e4f4a0f89">More...</a><br /></td></tr>
<tr class="separator:a6cd39ec31a23d7ba5ebe1a6e4f4a0f89"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3bb91bfb9547b01596dac3e9fdd4adfd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3bb91bfb9547b01596dac3e9fdd4adfd">DeactivateLocalizationMode</a> ()</td></tr>
<tr class="memdesc:a3bb91bfb9547b01596dac3e9fdd4adfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pasa a modo de localización y mapeo.  <a href="#a3bb91bfb9547b01596dac3e9fdd4adfd">More...</a><br /></td></tr>
<tr class="separator:a3bb91bfb9547b01596dac3e9fdd4adfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb40f7f7ab6dfe0a2aafc698563f2d12"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#abb40f7f7ab6dfe0a2aafc698563f2d12">GetMap</a> ()</td></tr>
<tr class="memdesc:abb40f7f7ab6dfe0a2aafc698563f2d12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Devuelve el mapa.  <a href="#abb40f7f7ab6dfe0a2aafc698563f2d12">More...</a><br /></td></tr>
<tr class="separator:abb40f7f7ab6dfe0a2aafc698563f2d12"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6103dd09808ecac27eaa68f71863549c"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6103dd09808ecac27eaa68f71863549c">GetStatus</a> ()</td></tr>
<tr class="memdesc:a6103dd09808ecac27eaa68f71863549c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Informa el estado.  <a href="#a6103dd09808ecac27eaa68f71863549c">More...</a><br /></td></tr>
<tr class="separator:a6103dd09808ecac27eaa68f71863549c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28715073ef3ddbc8aececc634173f931"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a28715073ef3ddbc8aececc634173f931">GetTracker</a> ()</td></tr>
<tr class="memdesc:a28715073ef3ddbc8aececc634173f931"><td class="mdescLeft">&#160;</td><td class="mdescRight">Devuelve un puntero al objeto de tracking.  <a href="#a28715073ef3ddbc8aececc634173f931">More...</a><br /></td></tr>
<tr class="separator:a28715073ef3ddbc8aececc634173f931"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33f5eb6f33d14cdda2a889fe06d6619e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a33f5eb6f33d14cdda2a889fe06d6619e">Reset</a> ()</td></tr>
<tr class="memdesc:a33f5eb6f33d14cdda2a889fe06d6619e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reinicia el sistema.  <a href="#a33f5eb6f33d14cdda2a889fe06d6619e">More...</a><br /></td></tr>
<tr class="separator:a33f5eb6f33d14cdda2a889fe06d6619e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6435a029f66a34103c434aa16e80eae3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6435a029f66a34103c434aa16e80eae3">SaveKeyFrameTrajectoryTUM</a> (const string &amp;filename)</td></tr>
<tr class="separator:a6435a029f66a34103c434aa16e80eae3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63af12168389966ddb02d3b4ddff3212"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a63af12168389966ddb02d3b4ddff3212">SetStatus</a> (int status)</td></tr>
<tr class="memdesc:a63af12168389966ddb02d3b4ddff3212"><td class="mdescLeft">&#160;</td><td class="mdescRight">Establece el estado.  <a href="#a63af12168389966ddb02d3b4ddff3212">More...</a><br /></td></tr>
<tr class="separator:a63af12168389966ddb02d3b4ddff3212"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa934876a230dfa99e123f62b4b54d0cb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#aa934876a230dfa99e123f62b4b54d0cb">Shutdown</a> ()</td></tr>
<tr class="memdesc:aa934876a230dfa99e123f62b4b54d0cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solicita el cierre del sistema.  <a href="#aa934876a230dfa99e123f62b4b54d0cb">More...</a><br /></td></tr>
<tr class="separator:aa934876a230dfa99e123f62b4b54d0cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e9b6b0e27ac44fe16b0f35c39aa9b63"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a8e9b6b0e27ac44fe16b0f35c39aa9b63">System</a> (const string &amp;strVocFile, const string &amp;strSettingsFile, const <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">eSensor</a> sensor, const bool bUseViewer=true, cv::VideoCapture *=NULL)</td></tr>
<tr class="memdesc:a8e9b6b0e27ac44fe16b0f35c39aa9b63"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a8e9b6b0e27ac44fe16b0f35c39aa9b63">More...</a><br /></td></tr>
<tr class="separator:a8e9b6b0e27ac44fe16b0f35c39aa9b63"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0408659bafa31c4d0722ccd032fb9430"><td class="memItemLeft" align="right" valign="top">cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a0408659bafa31c4d0722ccd032fb9430">TrackMonocular</a> (const cv::Mat &amp;im, const double &amp;timestamp)</td></tr>
<tr class="memdesc:a0408659bafa31c4d0722ccd032fb9430"><td class="mdescLeft">&#160;</td><td class="mdescRight">Procesa una imagen de la cámara.  <a href="#a0408659bafa31c4d0722ccd032fb9430">More...</a><br /></td></tr>
<tr class="separator:a0408659bafa31c4d0722ccd032fb9430"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a60b15b1f4e0299fa9398801abc143070"><td class="memItemLeft" align="right" valign="top">cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a60b15b1f4e0299fa9398801abc143070">imagenEntrada</a></td></tr>
<tr class="memdesc:a60b15b1f4e0299fa9398801abc143070"><td class="mdescLeft">&#160;</td><td class="mdescRight">Imagen de entrada.  <a href="#a60b15b1f4e0299fa9398801abc143070">More...</a><br /></td></tr>
<tr class="separator:a60b15b1f4e0299fa9398801abc143070"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8e76b84fb1c3e90320903984328fec4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#aa8e76b84fb1c3e90320903984328fec4">mpFrameDrawer</a></td></tr>
<tr class="memdesc:aa8e76b84fb1c3e90320903984328fec4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Visor de cámara, que muestra la imagen con los puntos detectados sobre ella.  <a href="#aa8e76b84fb1c3e90320903984328fec4">More...</a><br /></td></tr>
<tr class="separator:aa8e76b84fb1c3e90320903984328fec4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cadd57703ba94de84c00876bf554d2f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">KeyFrameDatabase</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6cadd57703ba94de84c00876bf554d2f">mpKeyFrameDatabase</a></td></tr>
<tr class="memdesc:a6cadd57703ba94de84c00876bf554d2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base de datos de keyframes, para búsqueda de keyframes por BOW.  <a href="#a6cadd57703ba94de84c00876bf554d2f">More...</a><br /></td></tr>
<tr class="separator:a6cadd57703ba94de84c00876bf554d2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7597aee894baff53015605762c134b57"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">LocalMapping</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a7597aee894baff53015605762c134b57">mpLocalMapper</a></td></tr>
<tr class="memdesc:a7597aee894baff53015605762c134b57"><td class="mdescLeft">&#160;</td><td class="mdescRight">Objeto de mapeo.  <a href="#a7597aee894baff53015605762c134b57">More...</a><br /></td></tr>
<tr class="separator:a7597aee894baff53015605762c134b57"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad722b80260f1ab8292ec8b7951047348"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">LoopClosing</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#ad722b80260f1ab8292ec8b7951047348">mpLoopCloser</a></td></tr>
<tr class="memdesc:ad722b80260f1ab8292ec8b7951047348"><td class="mdescLeft">&#160;</td><td class="mdescRight">Objeto de cierre de bucles.  <a href="#ad722b80260f1ab8292ec8b7951047348">More...</a><br /></td></tr>
<tr class="separator:ad722b80260f1ab8292ec8b7951047348"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47daae04f6006cb21d7b00b5541d2bca"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a47daae04f6006cb21d7b00b5541d2bca">mpMap</a></td></tr>
<tr class="memdesc:a47daae04f6006cb21d7b00b5541d2bca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Mapa del mundo, con la lista de puntos 3D y de keyframes.  <a href="#a47daae04f6006cb21d7b00b5541d2bca">More...</a><br /></td></tr>
<tr class="separator:a47daae04f6006cb21d7b00b5541d2bca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45f69b6579fdea93c692e52dbd9b0614"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">MapDrawer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a45f69b6579fdea93c692e52dbd9b0614">mpMapDrawer</a></td></tr>
<tr class="memdesc:a45f69b6579fdea93c692e52dbd9b0614"><td class="mdescLeft">&#160;</td><td class="mdescRight">Visor del mapa que muestra los puntos 3D y la pose de la cámara.  <a href="#a45f69b6579fdea93c692e52dbd9b0614">More...</a><br /></td></tr>
<tr class="separator:a45f69b6579fdea93c692e52dbd9b0614"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4170bdaefc0ea8fc5aad6b6e782f2dc4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a4170bdaefc0ea8fc5aad6b6e782f2dc4">mpTracker</a></td></tr>
<tr class="memdesc:a4170bdaefc0ea8fc5aad6b6e782f2dc4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Objecto de tracking.  <a href="#a4170bdaefc0ea8fc5aad6b6e782f2dc4">More...</a><br /></td></tr>
<tr class="separator:a4170bdaefc0ea8fc5aad6b6e782f2dc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f89f0644efa2054604a53ffa8dbd4e7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_viewer.html">Viewer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a4f89f0644efa2054604a53ffa8dbd4e7">mpViewer</a></td></tr>
<tr class="memdesc:a4f89f0644efa2054604a53ffa8dbd4e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Visor, maneja el visor del mapa y el de cámara.  <a href="#a4f89f0644efa2054604a53ffa8dbd4e7">More...</a><br /></td></tr>
<tr class="separator:a4f89f0644efa2054604a53ffa8dbd4e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30df3414ecc346463295d8138c80af2f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#a2fafba714858cab1bb18d438e2e83c5d">ORBVocabulary</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a30df3414ecc346463295d8138c80af2f">mpVocabulary</a></td></tr>
<tr class="memdesc:a30df3414ecc346463295d8138c80af2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vocabulario ORB BOW.  <a href="#a30df3414ecc346463295d8138c80af2f">More...</a><br /></td></tr>
<tr class="separator:a30df3414ecc346463295d8138c80af2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8507b13866c3804cbbe74ba407d0caea"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_serializer.html">Serializer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a8507b13866c3804cbbe74ba407d0caea">serializer</a></td></tr>
<tr class="memdesc:a8507b13866c3804cbbe74ba407d0caea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serializador singleton.  <a href="#a8507b13866c3804cbbe74ba407d0caea">More...</a><br /></td></tr>
<tr class="separator:a8507b13866c3804cbbe74ba407d0caea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15fdbc8309a8b1255b3028053e9ba4a8"><td class="memItemLeft" align="right" valign="top">cv::VideoCapture *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a15fdbc8309a8b1255b3028053e9ba4a8">video</a></td></tr>
<tr class="memdesc:a15fdbc8309a8b1255b3028053e9ba4a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Video de entrada.  <a href="#a15fdbc8309a8b1255b3028053e9ba4a8">More...</a><br /></td></tr>
<tr class="separator:a15fdbc8309a8b1255b3028053e9ba4a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a375f5e834f834d35227d8500be331d4d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a375f5e834f834d35227d8500be331d4d">mbActivateLocalizationMode</a></td></tr>
<tr class="memdesc:a375f5e834f834d35227d8500be331d4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Señal solicitud de modo only tracking, sin mapeo.  <a href="#a375f5e834f834d35227d8500be331d4d">More...</a><br /></td></tr>
<tr class="separator:a375f5e834f834d35227d8500be331d4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ddf79ff90f548529490fa6910f52bb8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3ddf79ff90f548529490fa6910f52bb8">mbDeactivateLocalizationMode</a></td></tr>
<tr class="memdesc:a3ddf79ff90f548529490fa6910f52bb8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Señal solicitud de modo tracking&amp;mapping.  <a href="#a3ddf79ff90f548529490fa6910f52bb8">More...</a><br /></td></tr>
<tr class="separator:a3ddf79ff90f548529490fa6910f52bb8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2386c300525a863f84a50ae4fb00892c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a2386c300525a863f84a50ae4fb00892c">mbReset</a></td></tr>
<tr class="separator:a2386c300525a863f84a50ae4fb00892c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72f99b0f2e49cf8480f696662475243e"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a72f99b0f2e49cf8480f696662475243e">mMutexMode</a></td></tr>
<tr class="separator:a72f99b0f2e49cf8480f696662475243e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad157436a5aba7af15a52b712c0f5d6c8"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#ad157436a5aba7af15a52b712c0f5d6c8">mMutexReset</a></td></tr>
<tr class="separator:ad157436a5aba7af15a52b712c0f5d6c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a920fdcb880bd1fa57bebfa2c90057c19"><td class="memItemLeft" align="right" valign="top">std::thread *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a920fdcb880bd1fa57bebfa2c90057c19">mptLocalMapping</a></td></tr>
<tr class="memdesc:a920fdcb880bd1fa57bebfa2c90057c19"><td class="mdescLeft">&#160;</td><td class="mdescRight">Hilo de mapeo.  <a href="#a920fdcb880bd1fa57bebfa2c90057c19">More...</a><br /></td></tr>
<tr class="separator:a920fdcb880bd1fa57bebfa2c90057c19"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a834f5f1017e9b36f9be8c7ce10fc1418"><td class="memItemLeft" align="right" valign="top">std::thread *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a834f5f1017e9b36f9be8c7ce10fc1418">mptLoopClosing</a></td></tr>
<tr class="memdesc:a834f5f1017e9b36f9be8c7ce10fc1418"><td class="mdescLeft">&#160;</td><td class="mdescRight">Hilo de cierre de bucle.  <a href="#a834f5f1017e9b36f9be8c7ce10fc1418">More...</a><br /></td></tr>
<tr class="separator:a834f5f1017e9b36f9be8c7ce10fc1418"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a734cf8bef072b5c49c0ecb21f0f1aa7d"><td class="memItemLeft" align="right" valign="top">std::thread *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a734cf8bef072b5c49c0ecb21f0f1aa7d">mptViewer</a></td></tr>
<tr class="memdesc:a734cf8bef072b5c49c0ecb21f0f1aa7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Hilo de visor.  <a href="#a734cf8bef072b5c49c0ecb21f0f1aa7d">More...</a><br /></td></tr>
<tr class="separator:a734cf8bef072b5c49c0ecb21f0f1aa7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e2c6a2e12b887481a564e0f95912d40"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">eSensor</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6e2c6a2e12b887481a564e0f95912d40">mSensor</a></td></tr>
<tr class="memdesc:a6e2c6a2e12b887481a564e0f95912d40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tipo de sensor, modo de operación: mono, estéreo o mapa de profundidad.  <a href="#a6e2c6a2e12b887481a564e0f95912d40">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a> se instancia una única vez en main, en la variable SLAM. </p>
<p>Sus métodos representan la API del sistema. Luego de la inicialización, el bucle principal de main invoca un método de <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a> para cada cuadro. main controla el origen de imágenes, y lo envía a Track* para su proceso. Track* es uno de:</p><ul>
<li>TrackMonocular</li>
<li>TrackStereo</li>
<li>TrackRGBD</li>
</ul>
<p>En ese mismo bucle la gui invoca comandos de <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a>, como <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a6cd39ec31a23d7ba5ebe1a6e4f4a0f89" title="Pasa a modo de sólo localización, sin mapeo (sólo tracking). ">ActivateLocalizationMode()</a> y <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3bb91bfb9547b01596dac3e9fdd4adfd" title="Pasa a modo de localización y mapeo. ">DeactivateLocalizationMode()</a>. Otros comandos disponibles: Reset, Shutdown, Save*.</p>
<p>Las propiedades mp del sistema son punteros a los objetos principales, todos de instancia única, del tipo:</p><ul>
<li>ORBVocabulary</li>
<li><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html" title="Lista invertida de KeyFrames, accesible por BoW. ">KeyFrameDatabase</a></li>
<li><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map.html" title="Mapa del mundo, de puntos y keyframes. ">Map</a></li>
<li>FramDrawer</li>
<li><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html" title="Esta clase contiene los métodos para dibujar en pangolin. ">MapDrawer</a></li>
</ul>
<p>Puntero a los objetos de los hilos, de tipo:</p><ul>
<li><a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html" title="Objeto único que se ejecuta en su propio Trhead, y se inicia con Run(). ">Tracking</a> (está en el mismo hilo que <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a>)</li>
<li><a class="el" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html" title="LocalMapping tiene una única instancia ejecutando el método Run en su propio thread. ">LocalMapping</a> y a su hilo</li>
<li><a class="el" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html" title="Cierre de bucles. ">LoopClosing</a> y a su hilo</li>
<li><a class="el" href="class_o_r_b___s_l_a_m2_1_1_viewer.html" title="Viewer representa la interfaz de usuario. ">Viewer</a> y a su hilo</li>
</ul>
<p>Las propiedades de estado son booleanas:</p><ul>
<li>mbReset</li>
<li>mbActivateLocalizationMode</li>
<li>mbDeactivateLocalizationMode</li>
</ul>
<p>Otras propiedades misceláneas:</p><ul>
<li>mMutexMode</li>
<li>mMutexReset</li>
<li>mSensor: MONOCULAR, STEREO o RGBD </li>
</ul>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a3f14b84bb9663e1129e649e592bd14cf"></a>
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          <td class="memname">enum <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">ORB_SLAM2::System::eSensor</a></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Tipo de sensor, modo de operación: mono, estéreo o mapa de profundidad. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a3f14b84bb9663e1129e649e592bd14cfad1e5840d6aeaa77d25724ea0b27437cd"></a>MONOCULAR&#160;</td><td class="fielddoc">
</td></tr>
</table>

</div>
</div>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">ORB_SLAM2::System::System </td>
          <td>(</td>
          <td class="paramtype">const string &amp;&#160;</td>
          <td class="paramname"><em>strVocFile</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const string &amp;&#160;</td>
          <td class="paramname"><em>strSettingsFile</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html#a3f14b84bb9663e1129e649e592bd14cf">eSensor</a>&#160;</td>
          <td class="paramname"><em>sensor</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const bool&#160;</td>
          <td class="paramname"><em>bUseViewer</em> = <code>true</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">cv::VideoCapture *&#160;</td>
          <td class="paramname"><em>video_</em> = <code>NULL</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor. </p>
<p>Constructor único, con argumentos obligatorios.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">strVocFile</td><td>Nombre del archivo con el vocabulario BoW, para abrir. </td></tr>
    <tr><td class="paramname">strSettingsFile</td><td>Nombre del archivo de configuración, para abrir. </td></tr>
    <tr><td class="paramname">sensor</td><td>Tipo de sensor. MONOCULAR para mono slam. </td></tr>
    <tr><td class="paramname">bUseViewer</td><td>Señal para activar el visor.</td></tr>
    <tr><td class="paramname">strVocFile</td><td>ruta al archivo vocabulario ORB BOW a cargar. </td></tr>
    <tr><td class="paramname">strSettingsFile</td><td>ruta al archivo de configuración, que contiene los parámetros instrínsecos y coeficientes de la cámara. </td></tr>
    <tr><td class="paramname">eSensor</td><td>modo de operación: mono, estéreo, rgbd. </td></tr>
    <tr><td class="paramname">bUseViewer</td><td>indica si activar o no el visor (la gui). </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a6cd39ec31a23d7ba5ebe1a6e4f4a0f89"></a>
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          <td class="memname">void ORB_SLAM2::System::ActivateLocalizationMode </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Pasa a modo de sólo localización, sin mapeo (sólo tracking). </p>
<p>Activa el modo de Localización.</p>
<p>Inicia el autómata finito que lo activa. </p>

</div>
</div>
<a id="a3bb91bfb9547b01596dac3e9fdd4adfd"></a>
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          <td class="memname">void ORB_SLAM2::System::DeactivateLocalizationMode </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Pasa a modo de localización y mapeo. </p>
<p>Desactiva el modo de Localización.</p>
<p>Inicia el autómata finito que lo desactiva. </p>

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</div>
<a id="abb40f7f7ab6dfe0a2aafc698563f2d12"></a>
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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* ORB_SLAM2::System::GetMap </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Devuelve el mapa. </p>
<dl class="section return"><dt>Returns</dt><dd>Mapa del mundo. </dd></dl>

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</div>
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          <td class="memname">int ORB_SLAM2::System::GetStatus </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Informa el estado. </p>

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</div>
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  <tr>
  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a>* ORB_SLAM2::System::GetTracker </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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<p>Devuelve un puntero al objeto de tracking. </p>

</div>
</div>
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          <td class="memname">void ORB_SLAM2::System::Reset </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Reinicia el sistema. </p>
<p>Inicia el autómata finito que resetea el sistema.</p>
<p>Limpia el mapa.</p>

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          <td class="memname">void ORB_SLAM2::System::SaveKeyFrameTrajectoryTUM </td>
          <td>(</td>
          <td class="paramtype">const string &amp;&#160;</td>
          <td class="paramname"><em>filename</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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</div>
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          <td class="memname">void ORB_SLAM2::System::SetStatus </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>status</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Establece el estado. </p>

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          <td class="memname">void ORB_SLAM2::System::Shutdown </td>
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          <td class="paramname"></td><td>)</td>
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<p>Solicita el cierre del sistema. </p>
<p>Apaga el sistema.</p>
<p>Solicita terminar a todos los hilos, y espera hasta que terminen. Los datos permanecen en memoria. Esta función se debe invocar antesd e guardar la trayectoria.</p>

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          <td class="memname">cv::Mat ORB_SLAM2::System::TrackMonocular </td>
          <td>(</td>
          <td class="paramtype">const cv::Mat &amp;&#160;</td>
          <td class="paramname"><em>im</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
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          <td>)</td>
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<p>Procesa una imagen de la cámara. </p>
<p>Envoltorio del método principal, invocado repetidamente por el bucle principal, una vez por cada imagen del sensor.</p>
<p>Es el método central, invocado repetidamente en el bucle principal de tracking.</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">im</td><td>Imagen de cámara a procesar. </td></tr>
    <tr><td class="paramname">timestamp</td><td>Marca temporal, sólo para registro, orb-slam2 no la utiliza.</td></tr>
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<p>Chequea variables de estado que reflejan comandos de la gui. Finalmente invoca el método principal: <a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad3de28bf6f7638c4da2248c9d595f394" title="Recibe una imagen para procesar, desde System, en el mismo hilo. ">Tracking::GrabImageMonocular</a> </p><dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">im</td><td>imagen a procesar </td></tr>
    <tr><td class="paramname">timestamp</td><td>para registro de tiempos </td></tr>
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<h2 class="groupheader">Member Data Documentation</h2>
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<p>Imagen de entrada. </p>

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<p>Señal solicitud de modo only tracking, sin mapeo. </p>

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<p>Señal solicitud de modo tracking&amp;mapping. </p>

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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a>* ORB_SLAM2::System::mpFrameDrawer</td>
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<p>Visor de cámara, que muestra la imagen con los puntos detectados sobre ella. </p>

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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">KeyFrameDatabase</a>* ORB_SLAM2::System::mpKeyFrameDatabase</td>
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<p>Base de datos de keyframes, para búsqueda de keyframes por BOW. </p>

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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">LocalMapping</a>* ORB_SLAM2::System::mpLocalMapper</td>
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<p>Objeto de mapeo. </p>

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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">LoopClosing</a>* ORB_SLAM2::System::mpLoopCloser</td>
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<p>Objeto de cierre de bucles. </p>

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<p>Mapa del mundo, con la lista de puntos 3D y de keyframes. </p>

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<p>Visor del mapa que muestra los puntos 3D y la pose de la cámara. </p>
<p>Usa Pangolin. </p>

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<p>Hilo de mapeo. </p>

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<p>Hilo de cierre de bucle. </p>

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          <td class="memname"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a>* ORB_SLAM2::System::mpTracker</td>
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<p>Objecto de tracking. </p>

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<p>Hilo de visor. </p>

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<p>Visor, maneja el visor del mapa y el de cámara. </p>
<p>Usa Pangolin. Lo hice público para que main pueda interactuar con él a través de <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a>. </p>

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          <td class="memname"><a class="el" href="namespace_o_r_b___s_l_a_m2.html#a2fafba714858cab1bb18d438e2e83c5d">ORBVocabulary</a>* ORB_SLAM2::System::mpVocabulary</td>
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<p>Vocabulario ORB BOW. </p>

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<p>Tipo de sensor, modo de operación: mono, estéreo o mapa de profundidad. </p>

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<p>Serializador singleton. </p>

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<p>Video de entrada. </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/include/<a class="el" href="_system_8h_source.html">System.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/src/<a class="el" href="_system_8cc.html">System.cc</a></li>
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